File content as of revision 43:f459f6efaf5c:

#include "QMC5883L.h"
 
QMC5883L::QMC5883L(I2C& i2c): i2c(i2c)
{
    init();
}

void QMC5883L::readMag()
{
    mag_val[0] = getMagXvalue();
    mag_val[1] = getMagYvalue();
    mag_val[2] = getMagZvalue();
}

float QMC5883L::magX() 
{
    return scale * static_cast<float>( mag_val[0] );
}

float QMC5883L::magY() 
{
    return scale * static_cast<float>( mag_val[1] );
}

float QMC5883L::magZ() 
{
    return scale * static_cast<float>( mag_val[2] );
}

void QMC5883L::init()
{   
    scale = 1.97e-4f; // 31.05.2022, based on experiment so it fits the former mag scaling (norm approx. 0.31)
    QMC5883L_WriteByte(CONTROL_A, 0x1D);  // OSR: 512, RNG: 8G, ODR: 200 Hz, MODE: cont. (betaflight and inav)
    //QMC5883L_WriteByte(CONTROL_A, 0x59);  // OSR: 256, RNG: 8G, ODR: 100 Hz, MODE: cont.
    QMC5883L_WriteByte(SET_RESET, 0x01);
    thread_sleep_for(10);
}
 
int16_t QMC5883L::getMagXvalue()
{
    uint8_t LoByte, HiByte;
    LoByte = QMC5883L_ReadByte(OUT_Y_LSB); // x and y are swapped
    HiByte = QMC5883L_ReadByte(OUT_Y_MSB);
    return((HiByte<<8) | LoByte);
}
 
 
int16_t QMC5883L::getMagYvalue()
{
    uint8_t LoByte, HiByte;
    LoByte = QMC5883L_ReadByte(OUT_X_LSB); // x and y are swapped
    HiByte = QMC5883L_ReadByte(OUT_X_MSB);
    return ((HiByte<<8) | LoByte);
}
 
int16_t QMC5883L::getMagZvalue()
{
    uint8_t LoByte, HiByte;
    LoByte = QMC5883L_ReadByte(OUT_Z_LSB);
    HiByte = QMC5883L_ReadByte(OUT_Z_MSB);
    return ((HiByte<<8) | LoByte);
}

uint8_t QMC5883L::QMC5883L_ReadByte(uint8_t QMC5883L_reg)
{
    char data_out[1], data_in[1];
    data_out[0] = QMC5883L_reg;
    i2c.write(QMC5883L_ADDRESS, data_out, 1, 1);
    i2c.read(QMC5883L_ADDRESS, data_in, 1, 0);
    return (data_in[0]);
}

void QMC5883L::QMC5883L_WriteByte(uint8_t QMC5883L_reg, uint8_t QMC5883L_data)
{
    char data_out[2];
    data_out[0] = QMC5883L_reg;
    data_out[1] = QMC5883L_data;
    i2c.write(QMC5883L_ADDRESS, data_out, 2, 0);
}